Merge branch 'dev' into add-TUM-Facade-dataset

.github/ISSUE_TEMPLATE/0-build-issue-report.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/1-bug-report.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/2-questions.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/ISSUE_TEMPLATE/3-feature-request.yml

@@ -13,7 +13,7 @@ body:
         required: true
       - label: "I have tested with the [latest development wheel](http://www.open3d.org/docs/latest/getting_started.html#development-version-pip)."
         required: true
-      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `master` branch)."
+      - label: "I have checked the [release documentation](http://www.open3d.org/docs/release/) and the [latest documentation](http://www.open3d.org/docs/latest/) (for `main` branch)."
         required: true
 
 - type: textarea

.github/workflows/style.yml

@@ -3,7 +3,7 @@ name: Style check
 on:
   workflow_dispatch:
   push:
-    branches: [master, dev]
+    branches: [main, dev]
   pull_request:
     types: [opened, reopened, synchronize]
 

.github/workflows/ubuntu.yml

@@ -3,7 +3,7 @@ name: Ubuntu CI
 on:
   workflow_dispatch:
   push:
-    branches: [master, dev]
+    branches: [main, dev]
   pull_request:
     types: [opened, reopened, synchronize]
 
@@ -16,7 +16,7 @@ jobs:
       NPROC: 2
     steps:
       - name: Checkout source code
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
       - name: Setup cache
         uses: actions/cache@v3
         with:
@@ -33,7 +33,7 @@ jobs:
       - name: Set up Python version
         uses: actions/setup-python@v4
         with:
-          python-version: "3.10"
+          python-version: "3.11"
       # Pre-installed  packages: https://github.com/actions/runner-images/tree/main/images
       - name: Install ccache
         run: |

ci/run_ci.sh

@@ -1,54 +1,42 @@
 #!/usr/bin/env bash
-#
-# The following environment variables are required:
-# - NPROC
-#
-TENSORFLOW_VER="2.8.2"
-TORCH_GLNX_VER="1.13.1+cpu"
-# OPENVINO_DEV_VER="2021.4.2"  # Numpy version conflict with TF 2.8.2
-PIP_VER="21.1.1"
-WHEEL_VER="0.38.4"
-STOOLS_VER="67.3.2"
-YAPF_VER="0.30.0"
-PYTEST_VER="7.1.2"
-PYTEST_RANDOMLY_VER="3.8.0"
 
 set -euo pipefail
 
+NPROC=${NPROC:?'env var must be set to number of available CPUs.'}
+PIP_VER="23.2.1"
+
 echo 1. Prepare the Open3D-ML repo and install dependencies
 echo
-export PATH_TO_OPEN3D_ML=$(pwd)
-# the build system of the main repo expects a master branch. make sure master exists
-git checkout -b master || true
-python -m pip install -U pip==$PIP_VER \
-    wheel=="$WHEEL_VER" \
-    setuptools=="$STOOLS_VER" \
-    yapf=="$YAPF_VER" \
-    pytest=="$PYTEST_VER" \
-    pytest-randomly=="$PYTEST_RANDOMLY_VER"
-
-python -m pip install -r requirements.txt
-echo $PATH_TO_OPEN3D_ML
+export PATH_TO_OPEN3D_ML="$PWD"
+echo "$PATH_TO_OPEN3D_ML"
+# the build system of the main repo expects a main branch. make sure main exists
+git checkout -b main || true
+python -m pip install -U pip==$PIP_VER
+python -m pip install -r requirements.txt \
+    -r requirements-torch.txt
+# -r requirements-tensorflow.txt # TF disabled on Linux (Open3D PR#6288)
+# -r requirements-openvino.txt # Numpy version conflict with TF 2.8.2
 cd ..
 python -m pip install -U Cython
 
 echo 2. clone Open3D and install dependencies
 echo
-git clone --recursive --branch master https://github.com/isl-org/Open3D.git
+git clone --branch main https://github.com/isl-org/Open3D.git
 
 ./Open3D/util/install_deps_ubuntu.sh assume-yes
-python -m pip install -U tensorflow-cpu==$TENSORFLOW_VER \
-    torch==${TORCH_GLNX_VER} --extra-index-url https://download.pytorch.org/whl/cpu/
-# openvino-dev=="$OPENVINO_DEV_VER"
+python -m pip install -r Open3D/python/requirements.txt \
+    -r Open3D/python/requirements_style.txt \
+    -r Open3D/python/requirements_test.txt
 
 echo 3. Configure for bundling the Open3D-ML part
 echo
 mkdir Open3D/build
 pushd Open3D/build
+# TF disabled on Linux (Open3D PR#6288)
 cmake -DBUNDLE_OPEN3D_ML=ON \
-    -DOPEN3D_ML_ROOT=$PATH_TO_OPEN3D_ML \
+    -DOPEN3D_ML_ROOT="${PATH_TO_OPEN3D_ML}" \
     -DGLIBCXX_USE_CXX11_ABI=OFF \
-    -DBUILD_TENSORFLOW_OPS=ON \
+    -DBUILD_TENSORFLOW_OPS=OFF \
     -DBUILD_PYTORCH_OPS=ON \
     -DBUILD_GUI=ON \
     -DBUILD_UNIT_TESTS=OFF \
@@ -66,12 +54,13 @@ echo
 popd
 mkdir test_workdir
 pushd test_workdir
-mv $PATH_TO_OPEN3D_ML/tests .
+mv "$PATH_TO_OPEN3D_ML/tests" .
 echo Add --randomly-seed=SEED to the test command to reproduce test order.
 python -m pytest tests
 
-echo ... now do the same but in dev mode by setting OPEN3D_ML_ROOT
-export OPEN3D_ML_ROOT=$PATH_TO_OPEN3D_ML
+echo "... now do the same but in dev mode by setting OPEN3D_ML_ROOT"
+echo
+export OPEN3D_ML_ROOT="$PATH_TO_OPEN3D_ML"
 echo Add --randomly-seed=SEED to the test command to reproduce test order.
 python -m pytest tests
 unset OPEN3D_ML_ROOT

ml3d/configs/randlanet_pandaset.yml

@@ -0,0 +1,47 @@
+dataset:
+  name: Pandaset
+  dataset_path: path_to_dataset
+  cache_dir: ./logs/cache
+  test_result_folder: './logs/test'
+  training_split: [ '001', '002', '003', '005', '011', '013', '015', '016',
+                    '017', '019', '021', '023', '024', '027', '028', '029', 
+                    '030', '032', '033', '034', '035', '037', '038', '039', 
+                    '040', '041', '042', '043', '044', '046', '052', '053', 
+                    '054', '056', '057', '058', '064', '065', '066', '067',
+                    '070', '071', '072', '073', '077', '078', '080', '084',
+                    '088', '089', '090', '094', '095', '097', '098', '101',
+                    '102', '103', '105', '106', '109', '110', '112', '113'
+                    ]
+  test_split: ['115', '116', '117', '119', '120', '124', '139', '149', '158']
+  validation_split: ['122', '123']
+  use_cache: true
+  sampler:
+    name: 'SemSegRandomSampler'
+model:
+  name: RandLANet
+  batcher: DefaultBatcher
+  num_classes: 39
+  num_points: 81920
+  num_neighbors: 16
+  framework: torch
+  num_layers: 4
+  ignored_label_inds: [0]
+  sub_sampling_ratio: [4, 4, 4, 4]
+  in_channels: 3
+  dim_features: 8
+  dim_output: [16, 64, 128, 256]
+  grid_size: 0.06
+pipeline:
+  name: SemanticSegmentation
+  max_epoch: 50
+  save_ckpt_freq: 5
+  device: gpu
+  optimizer:
+    lr: 0.001
+  batch_size: 4
+  main_log_dir: './logs'
+  logs_dir: './logs'
+  scheduler_gamma: 0.9886
+  test_batch_size: 2
+  train_sum_dir: './logs/training_log'
+  val_batch_size: 2

ml3d/datasets/kitti.py

@@ -266,9 +266,11 @@ def __len__(self):
 
     def get_data(self, idx):
         pc_path = self.path_list[idx]
-        label_path = pc_path.replace('velodyne',
-                                     'label_2').replace('.bin', '.txt')
-        calib_path = label_path.replace('label_2', 'calib')
+
+        # Replace the last instance of "velodyne" in the path by label_2, and the '.bin' by '.txt'
+        label_path = ("label_2".join(pc_path.rsplit("velodyne", 1))).replace(
+            '.bin', '.txt')
+        calib_path = "calib".join(label_path.rsplit("label_2", 1))
 
         pc = self.dataset.read_lidar(pc_path)
         calib = self.dataset.read_calib(calib_path)

ml3d/datasets/matterport_objects.py

@@ -262,7 +262,8 @@ def __len__(self):
 
     def get_data(self, idx):
         pc_path = self.path_list[idx]
-        label_path = pc_path.replace('pc', 'boxes').replace('.bin', '.txt')
+        label_path = ("boxes".join(pc_path.rsplit("pc",
+                                                  1))).replace('.bin', '.txt')
 
         pc = self.dataset.read_lidar(pc_path)
         label = self.dataset.read_label(label_path)